1.下载
首先需要从github上Git以下两个包:
git clone https://github.com/ros-perception/open_karto(开源的karto包,实现底层的kartoslam)
git clone https://github.com/ros-perception/slam_karto(ros层,也就是应用层的kartoslam接口)
还需要一个sparse_bundle_adjustment包,才能顺利编译通过
2.编译之.
3.运行launch文件
<launch>
<param name="use_sim_time" value="true"/>
<node pkg="slam_karto" type="slam_karto" name="slam_karto" output="screen">
<rosparam command="load" file="$(find slam_karto)/config/mapper_params.yaml" />
</node>
<node pkg="rosbag" type="play" name="play"
args="$(find slam_karto)/demo/59.bag --clock"/>
<node pkg="tf" type="static_transform_publisher" name="laser_static_tf_publisher" args="-0.013 0.0 0 0 0 0 1 base_link laser 200"/>
</launch>